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<div class="title">sac.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id$</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_CUDA_SAMPLE_CONSENSUS_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_CUDA_SAMPLE_CONSENSUS_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/cuda/sample_consensus/sac_model.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/cuda/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;cfloat&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">//#include &lt;set&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="keyword">namespace </span>cuda</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">template</span> &lt;<span class="keyword">template</span> &lt;<span class="keyword">typename</span>&gt; <span class="keyword">class </span>Storage&gt;</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html">   51</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html">SampleConsensus</a></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::Ptr SampleConsensusModelPtr;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::Hypotheses Hypotheses;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::Indices Indices;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::IndicesPtr IndicesPtr;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> SampleConsensusModel&lt;Storage&gt;::IndicesConstPtr IndicesConstPtr;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a10d7b0f25359c002d7dab2913202835a">   62</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a10d7b0f25359c002d7dab2913202835a">SampleConsensus</a> () {};</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">typedef</span> <span class="keyword">typename</span> Storage&lt;float&gt;::type Coefficients;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;Coefficients&gt; CoefficientsPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;const Coefficients&gt; CoefficientsConstPtr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;SampleConsensus&gt; Ptr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr&lt;const SampleConsensus&gt; ConstPtr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a7bf4c6fd2f22b0c47d3e84991ea052df">   75</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a7bf4c6fd2f22b0c47d3e84991ea052df">SampleConsensus</a> (<span class="keyword">const</span> SampleConsensusModelPtr &amp;model) : </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#ae2d1f0f11bd8bbac7a6b128cd27b6ced">sac_model_</a>(model), <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a4615fb95aea920a5f167f1db3a9dc2a8">probability_</a> (0.99), <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#ae525abb9ec82e5e2b0ee473f05ba91fa">iterations_</a> (0), <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a49491a73c6f6e408ee41b55884d2cacd">threshold_</a> (DBL_MAX), </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a56f971cd1025e8bcaa1c6da13080dca2">max_iterations_</a> (1000)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;        {};</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a091bb1e129688f88e261a1dc940eb4a4">   84</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a091bb1e129688f88e261a1dc940eb4a4">SampleConsensus</a> (<span class="keyword">const</span> SampleConsensusModelPtr &amp;model, <span class="keywordtype">float</span> threshold) : </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#ae2d1f0f11bd8bbac7a6b128cd27b6ced">sac_model_</a>(model), <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a4615fb95aea920a5f167f1db3a9dc2a8">probability_</a> (0.99), <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#ae525abb9ec82e5e2b0ee473f05ba91fa">iterations_</a> (0), <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a49491a73c6f6e408ee41b55884d2cacd">threshold_</a> (threshold), </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;          <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a56f971cd1025e8bcaa1c6da13080dca2">max_iterations_</a> (1000)</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        {};</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#acbeb087da86ee77a1d32cf9210a0f1e2">   90</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#acbeb087da86ee77a1d32cf9210a0f1e2">~SampleConsensus</a> () {};</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a000379c2bf39b238d812ec5a55b281d2">   96</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a000379c2bf39b238d812ec5a55b281d2">setDistanceThreshold</a> (<span class="keywordtype">float</span> threshold)  { <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a49491a73c6f6e408ee41b55884d2cacd">threshold_</a> = threshold; }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#aec2105e1e32c118dbfb2bbb3f55b5df8">  100</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#aec2105e1e32c118dbfb2bbb3f55b5df8">getDistanceThreshold</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a49491a73c6f6e408ee41b55884d2cacd">threshold_</a>); }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00106"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#aa6ec12c07572b64574b6500e6d8a9dcb">  106</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#aa6ec12c07572b64574b6500e6d8a9dcb">setMaxIterations</a> (<span class="keywordtype">int</span> max_iterations) { <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a56f971cd1025e8bcaa1c6da13080dca2">max_iterations_</a> = max_iterations; }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00110"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a3d395cce84129159371a366b437b812a">  110</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a3d395cce84129159371a366b437b812a">getMaxIterations</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a56f971cd1025e8bcaa1c6da13080dca2">max_iterations_</a>); }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#ae97e118b7ca3ab88bf0680f718f28366">  119</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#ae97e118b7ca3ab88bf0680f718f28366">setProbability</a> (<span class="keywordtype">float</span> probability) { <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a4615fb95aea920a5f167f1db3a9dc2a8">probability_</a> = probability; }</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#ad4f5d9a11015deaa4042093cfc9bce3e">  125</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#ad4f5d9a11015deaa4042093cfc9bce3e">getProbability</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a4615fb95aea920a5f167f1db3a9dc2a8">probability_</a>); }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a9fcca984265ea67226bf94ef1537a173">  129</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a9fcca984265ea67226bf94ef1537a173">computeModel</a> (<span class="keywordtype">int</span> debug_verbosity_level = 0) = 0;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <span class="comment">/* \brief Get a set of randomly selected indices.</span></div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="comment">          * \param indices the input indices vector</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="comment">          * \param nr_samples the desired number of point indices to randomly select</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="comment">          * \param indices_subset the resultant output set of randomly selected indices</span></div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="comment">          */</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;<span class="comment">/*      inline void</span></div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;<span class="comment">        getRandomSamples (const IndicesPtr &amp;indices, size_t nr_samples, </span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="comment">                          std::set&lt;int&gt; &amp;indices_subset)</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="comment">        {</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="comment">          indices_subset.clear ();</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<span class="comment">          while (indices_subset.size () &lt; nr_samples)</span></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="comment">            indices_subset.insert ((*indices)[(int) (indices-&gt;size () * (rand () / (RAND_MAX + 1.0)))]);</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="comment">        }*/</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a541c7a0083c37b6fab5f65aa98339955">  149</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a541c7a0083c37b6fab5f65aa98339955">getModel</a> (Indices &amp;model) { model = <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a446259f179f2cef7d929550db5450b2e">model_</a>; }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="comment">//    inline void </span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="comment">//    getInliers (std::vector&lt;int&gt; &amp;inliers) { inliers = inliers_; }</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keyword">inline</span> IndicesPtr </div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a2b71a061a291e1100eb9249e8e3a427f">  156</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a2b71a061a291e1100eb9249e8e3a427f">getInliers</a> () { <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a69c386c8a4cf1d31ee5284491b644287">inliers_</a>; }</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <span class="comment">//    inline void </span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <span class="comment">//    getInliersStencil (Indices &amp;inliers) { inliers = inliers_stencil_; }</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keyword">inline</span> IndicesPtr</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        getInliersStencil () { <span class="keywordflow">return</span> inliers_stencil_; }</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a5bfd868069777fe9582b63fd48c28b5f">  167</a></span>&#160;        <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a5bfd868069777fe9582b63fd48c28b5f">getModelCoefficients</a> (Coefficients &amp;model_coefficients) </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        { </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          model_coefficients = <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a642fb690c064d7f06c917f3bc713995f">model_coefficients_</a>; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#ae2d1f0f11bd8bbac7a6b128cd27b6ced">  174</a></span>&#160;        SampleConsensusModelPtr <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#ae2d1f0f11bd8bbac7a6b128cd27b6ced">sac_model_</a>;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a446259f179f2cef7d929550db5450b2e">  177</a></span>&#160;        Indices <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a446259f179f2cef7d929550db5450b2e">model_</a>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a69c386c8a4cf1d31ee5284491b644287">  180</a></span>&#160;        IndicesPtr <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a69c386c8a4cf1d31ee5284491b644287">inliers_</a>;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        IndicesPtr inliers_stencil_;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a642fb690c064d7f06c917f3bc713995f">  184</a></span>&#160;        Coefficients <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a642fb690c064d7f06c917f3bc713995f">model_coefficients_</a>;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a4615fb95aea920a5f167f1db3a9dc2a8">  187</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a4615fb95aea920a5f167f1db3a9dc2a8">probability_</a>;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#ae525abb9ec82e5e2b0ee473f05ba91fa">  190</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#ae525abb9ec82e5e2b0ee473f05ba91fa">iterations_</a>;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        </div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a49491a73c6f6e408ee41b55884d2cacd">  193</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a49491a73c6f6e408ee41b55884d2cacd">threshold_</a>;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        </div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classpcl_1_1cuda_1_1_sample_consensus.html#a56f971cd1025e8bcaa1c6da13080dca2">  196</a></span>&#160;        <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1cuda_1_1_sample_consensus.html#a56f971cd1025e8bcaa1c6da13080dca2">max_iterations_</a>;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    };</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  } <span class="comment">// namespace</span></div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_CUDA_SAMPLE_CONSENSUS_H_</span></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html">pcl::cuda::SampleConsensus</a></div><div class="ttdef"><b>Definition:</b> sac.h:52</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a000379c2bf39b238d812ec5a55b281d2"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a000379c2bf39b238d812ec5a55b281d2">pcl::cuda::SampleConsensus::setDistanceThreshold</a></div><div class="ttdeci">void setDistanceThreshold(float threshold)</div><div class="ttdoc">Set the distance to model threshold.</div><div class="ttdef"><b>Definition:</b> sac.h:96</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a091bb1e129688f88e261a1dc940eb4a4"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a091bb1e129688f88e261a1dc940eb4a4">pcl::cuda::SampleConsensus::SampleConsensus</a></div><div class="ttdeci">SampleConsensus(const SampleConsensusModelPtr &amp;model, float threshold)</div><div class="ttdoc">Constructor for base SAC.</div><div class="ttdef"><b>Definition:</b> sac.h:84</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a10d7b0f25359c002d7dab2913202835a"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a10d7b0f25359c002d7dab2913202835a">pcl::cuda::SampleConsensus::SampleConsensus</a></div><div class="ttdeci">SampleConsensus()</div><div class="ttdoc">Constructor for base SAC.</div><div class="ttdef"><b>Definition:</b> sac.h:62</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a2b71a061a291e1100eb9249e8e3a427f"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a2b71a061a291e1100eb9249e8e3a427f">pcl::cuda::SampleConsensus::getInliers</a></div><div class="ttdeci">IndicesPtr getInliers()</div><div class="ttdoc">Return the best set of inliers found so far for this model.</div><div class="ttdef"><b>Definition:</b> sac.h:156</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a3d395cce84129159371a366b437b812a"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a3d395cce84129159371a366b437b812a">pcl::cuda::SampleConsensus::getMaxIterations</a></div><div class="ttdeci">int getMaxIterations()</div><div class="ttdoc">Get the maximum number of iterations, as set by the user.</div><div class="ttdef"><b>Definition:</b> sac.h:110</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a446259f179f2cef7d929550db5450b2e"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a446259f179f2cef7d929550db5450b2e">pcl::cuda::SampleConsensus::model_</a></div><div class="ttdeci">Indices model_</div><div class="ttdoc">The model found after the last computeModel () as point cloud indices.</div><div class="ttdef"><b>Definition:</b> sac.h:177</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a4615fb95aea920a5f167f1db3a9dc2a8"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a4615fb95aea920a5f167f1db3a9dc2a8">pcl::cuda::SampleConsensus::probability_</a></div><div class="ttdeci">float probability_</div><div class="ttdoc">Desired probability of choosing at least one sample free from outliers.</div><div class="ttdef"><b>Definition:</b> sac.h:187</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a49491a73c6f6e408ee41b55884d2cacd"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a49491a73c6f6e408ee41b55884d2cacd">pcl::cuda::SampleConsensus::threshold_</a></div><div class="ttdeci">float threshold_</div><div class="ttdoc">Distance to model threshold.</div><div class="ttdef"><b>Definition:</b> sac.h:193</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a541c7a0083c37b6fab5f65aa98339955"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a541c7a0083c37b6fab5f65aa98339955">pcl::cuda::SampleConsensus::getModel</a></div><div class="ttdeci">void getModel(Indices &amp;model)</div><div class="ttdoc">Return the best model found so far.</div><div class="ttdef"><b>Definition:</b> sac.h:149</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a56f971cd1025e8bcaa1c6da13080dca2"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a56f971cd1025e8bcaa1c6da13080dca2">pcl::cuda::SampleConsensus::max_iterations_</a></div><div class="ttdeci">int max_iterations_</div><div class="ttdoc">Maximum number of iterations before giving up.</div><div class="ttdef"><b>Definition:</b> sac.h:196</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a5bfd868069777fe9582b63fd48c28b5f"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a5bfd868069777fe9582b63fd48c28b5f">pcl::cuda::SampleConsensus::getModelCoefficients</a></div><div class="ttdeci">void getModelCoefficients(Coefficients &amp;model_coefficients)</div><div class="ttdoc">Return the model coefficients of the best model found so far.</div><div class="ttdef"><b>Definition:</b> sac.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a642fb690c064d7f06c917f3bc713995f"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a642fb690c064d7f06c917f3bc713995f">pcl::cuda::SampleConsensus::model_coefficients_</a></div><div class="ttdeci">Coefficients model_coefficients_</div><div class="ttdoc">The coefficients of our model computed directly from the model found.</div><div class="ttdef"><b>Definition:</b> sac.h:184</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a69c386c8a4cf1d31ee5284491b644287"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a69c386c8a4cf1d31ee5284491b644287">pcl::cuda::SampleConsensus::inliers_</a></div><div class="ttdeci">IndicesPtr inliers_</div><div class="ttdoc">The indices of the points that were chosen as inliers after the last call.</div><div class="ttdef"><b>Definition:</b> sac.h:180</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a7bf4c6fd2f22b0c47d3e84991ea052df"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a7bf4c6fd2f22b0c47d3e84991ea052df">pcl::cuda::SampleConsensus::SampleConsensus</a></div><div class="ttdeci">SampleConsensus(const SampleConsensusModelPtr &amp;model)</div><div class="ttdoc">Constructor for base SAC.</div><div class="ttdef"><b>Definition:</b> sac.h:75</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_a9fcca984265ea67226bf94ef1537a173"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#a9fcca984265ea67226bf94ef1537a173">pcl::cuda::SampleConsensus::computeModel</a></div><div class="ttdeci">virtual bool computeModel(int debug_verbosity_level=0)=0</div><div class="ttdoc">Compute the actual model. Pure virtual.</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_aa6ec12c07572b64574b6500e6d8a9dcb"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#aa6ec12c07572b64574b6500e6d8a9dcb">pcl::cuda::SampleConsensus::setMaxIterations</a></div><div class="ttdeci">void setMaxIterations(int max_iterations)</div><div class="ttdoc">Set the maximum number of iterations.</div><div class="ttdef"><b>Definition:</b> sac.h:106</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_acbeb087da86ee77a1d32cf9210a0f1e2"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#acbeb087da86ee77a1d32cf9210a0f1e2">pcl::cuda::SampleConsensus::~SampleConsensus</a></div><div class="ttdeci">virtual ~SampleConsensus()</div><div class="ttdoc">Destructor for base SAC.</div><div class="ttdef"><b>Definition:</b> sac.h:90</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_ad4f5d9a11015deaa4042093cfc9bce3e"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#ad4f5d9a11015deaa4042093cfc9bce3e">pcl::cuda::SampleConsensus::getProbability</a></div><div class="ttdeci">float getProbability()</div><div class="ttdoc">Obtain the probability of choosing at least one sample free from outliers, as set by the user.</div><div class="ttdef"><b>Definition:</b> sac.h:125</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_ae2d1f0f11bd8bbac7a6b128cd27b6ced"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#ae2d1f0f11bd8bbac7a6b128cd27b6ced">pcl::cuda::SampleConsensus::sac_model_</a></div><div class="ttdeci">SampleConsensusModelPtr sac_model_</div><div class="ttdoc">The underlying data model used (what is it that we attempt to search for).</div><div class="ttdef"><b>Definition:</b> sac.h:174</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_ae525abb9ec82e5e2b0ee473f05ba91fa"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#ae525abb9ec82e5e2b0ee473f05ba91fa">pcl::cuda::SampleConsensus::iterations_</a></div><div class="ttdeci">int iterations_</div><div class="ttdoc">Total number of internal loop iterations that we've done so far.</div><div class="ttdef"><b>Definition:</b> sac.h:190</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_ae97e118b7ca3ab88bf0680f718f28366"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#ae97e118b7ca3ab88bf0680f718f28366">pcl::cuda::SampleConsensus::setProbability</a></div><div class="ttdeci">void setProbability(float probability)</div><div class="ttdoc">Set the desired probability of choosing at least one sample free from outliers.</div><div class="ttdef"><b>Definition:</b> sac.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1cuda_1_1_sample_consensus_html_aec2105e1e32c118dbfb2bbb3f55b5df8"><div class="ttname"><a href="classpcl_1_1cuda_1_1_sample_consensus.html#aec2105e1e32c118dbfb2bbb3f55b5df8">pcl::cuda::SampleConsensus::getDistanceThreshold</a></div><div class="ttdeci">float getDistanceThreshold()</div><div class="ttdoc">Get the distance to model threshold, as set by the user.</div><div class="ttdef"><b>Definition:</b> sac.h:100</div></div>
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